CN101393040A - Platform for detecting vibration adsorption capacity of wall climbing robot - Google Patents
Platform for detecting vibration adsorption capacity of wall climbing robot Download PDFInfo
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- CN101393040A CN101393040A CNA2008101199784A CN200810119978A CN101393040A CN 101393040 A CN101393040 A CN 101393040A CN A2008101199784 A CNA2008101199784 A CN A2008101199784A CN 200810119978 A CN200810119978 A CN 200810119978A CN 101393040 A CN101393040 A CN 101393040A
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- sucker
- bearing
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Abstract
The invention discloses a test platform for testing vibration adsorption capacity of a wall-climbing robot, which consists of a base component (1), an adsorption component (2) and a vibration component (3), wherein the adsorption component (2) is arranged between an A support (11) and a B support (12), and the vibration component (3) is arranged on the base component (1). A screw rod (34), an A ball bearing (34a), a concave connecting piece (37), an A sliding rail (101) and an A slide block (103) are matched, which is used to conveniently adjust the position of a fulcrum on the one hand and can conveniently read the amplitude of an action force on the other hand. An alternating current servomotor (31) drives an eccentric wheel (31a) to rotate at even speed or rotate in a pulse mode, and the rotation is transferred to a sucking disc support (25) through a lever (35), a pin (110e) and a U-shaped support (110) to ensure that a sucking disk (23) moves up and down; the up-down movement of the sucking disk (23) can produce negative pressure on the lower bottom surface of a supporting plate (22). The influence of the following seven parameters on air pressure and action force can be synchronously measured by analyzing parameters measured by the test platform. The seven parameters comprise: amplitude, frequency, waveform, wall surface roughness, the radius of the sucking disc, the actual volume of the sucking disc, and the balance height of the sucking disc.
Description
Technical field
The present invention relates to a kind of test platform that is used to test the climbing robot adsorptive power of passive suction type.
Background technology
Climbing robot modal suction type on common wall is the vacuum suction mode, generally is divided into sucker vacuum suction and blower fan negative-pressure adsorption.
The sucker vacuum suction is to make it attached to the method on the wall by produce high vacuum state in rubber suction cups.The most frequently used suction disc vacuum pumping device is pneumatic vacuum generator, and it is used Venturi effect and produces vacuum, therefore adopts the robot of this mode to need the very long tracheae of traction to insert pressurized air from ground usually.Making the vacuum advantage of sucker with vacuum generator is that vacuum tightness height, absorption affinity are big, but that shortcoming is a vacuum cup is higher to the quality requirements of absorption surface, and impurity on the wall and defective cause the sucker vacuum breaking easily; Pneumatic line and device complexity are unfavorable for robot miniaturization and lightweight in addition.The method that another kind makes sucker produce high vacuum is to use vacuum pump, but the general industry vacuum pump is owing to reasons such as volume, weight are seldom used on climbing robot.
The blower fan negative-pressure adsorption generally adopts air-breathing electric fan at a high speed to produce the lower negative pressure of vacuum tightness in the bigger adsorbent chamber of area.The climbing robot advantage that adopts this mode is that its adsorption structure is fairly simple, and because blower fan suction airstream amount is big, the energy continuous working, also can guarantee reliable absorption even exist little air to leak between adsorbent chamber and the wall, therefore can be used for the more coarse wall absorption in surface, as the ceramic tile or the common brick metope of band ditch seam.But this suction type generally requires the area of adsorbent chamber bigger, and is unfavorable to the robot miniaturization, but also has the shortcoming that the blower fan power consumption is big, noise is big.
Summary of the invention
Rationality, reliability for the adsorptive power of verifying the suction type robot, and provide actual parameter source for the sucker adsorptive power, the inventor has designed a kind of test platform with vibration absorption, this platform is to be rotated by the driven by motor eccentric wheel, and will rotate the up-down vibration that is converted into sucker by lever.
The present invention is a kind of test platform that is used for detecting vibration adsorption capacity of wall climbing robot, and this test platform is made up of base assembly 1, absorbent module 2 and vibration component 3; Absorbent module 2 is installed in A support 11 and B supports between 12, and vibration component 3 is installed on the base assembly 1.Drive eccentric wheel 31a by AC servo motor 31 and do uniform rotation or pulse mode rotation, this rotation passes to sucker by lever 35, pin 110e and U-shaped bearing 110 and supports 25, and sucker 23 is moved up and down; Moving up and down of sucker 23 will produce negative pressure at the bottom surface of back up pad 22.
The present invention vibrates the advantage of absorption test platform:
(1) adopts AC servo motor 31 as driving, can realize the accurate control of position and speed.
(2) position by fulcrum on the adjustment (adjusting) lever 35 is the scalable amplitude, and range of adjustment can be enough to satisfy the demand of practical application from 0.5mm～10mm.
(3), can record of the influence of following 7 parameters simultaneously to air pressure and acting force by test platform being recorded the analysis of parameter.7 parameters comprise: amplitude, frequency, waveform, wall roughness, sucker radius, the true volume of sucker, sucker balance height.
Description of drawings
Fig. 1 is the structural drawing that the present invention vibrates the adsorption experiment platform.
Fig. 2 is the structural drawing of base assembly of the present invention.
Fig. 2 A is that the A of Fig. 2 is to view.
Fig. 3 is the structural drawing of absorbent module of the present invention.
Fig. 4 is the structural drawing of vibration component of the present invention.
Among the figure: 1. base assembly 11.A supports 111.C slide rail 112.C slide block
12.B support 121.D slide rail 122.D slide block 13. base 101.A slide rails
102.B slide rail 103.A slide block 104.B slide block 105. scale mark 106.A lightening holes
107.B lightening hole 108.L shape bearing 109. arch bearing 110.U shape bearing 110a.C threaded holes
110b. draw-in groove 110c.E guide rail 110d.E slide block 110e. pin
2. absorbent module 21. baroceptors 22. back up pad 22a.A connector 22b.B connectors
22c.A threaded hole 22d. boss 22e.A through hole 23. sucker 23a.B through holes
24. force transducer 24a. screw 24b.B threaded hole 25. suckers support
3. vibration component 31. AC servo motor 31a. eccentric wheels 32. motor cabinets
33. bearing seat 33a.B ball bearing 34. leading screw 34a.A ball bearing 35. levers
35a.A elongate slots 35b.B elongate slots 35c. central through hole
36.U shape web member 36a. thru-bolt 37. spill web members
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of test platform that is used for detecting vibration adsorption capacity of wall climbing robot, is to drive eccentric wheel 31a by motor 31 to rotate, and will rotates the up-down vibration that is converted into sucker 23 by lever 35.Measure the absorption affinity of sucker 23 in motion process by baroceptor 21.Measuring levers 35 by force transducer 24 moves up and down and drives sucker and support 25 acting forces that move up and down in the process.By slide block, slide rail and read the acting force that lever 35 produces cooperating of scale mark 105.By test platform being recorded the analysis of parameter, can record of the influence of following 7 parameters simultaneously to air pressure and acting force.7 parameters comprise: amplitude, frequency, waveform, wall roughness, sucker radius, the true volume of sucker, sucker balance height.In order to analyze the parameter that two sensors record, test platform of the present invention can connect a PC, and (the PC internal memory contains the parsing module of platform acquisition parameter, this module application Labview 8.0 and Matlab 7.0 softwares carry out emulation and analysis to gathering each data), the powerful calculating ability of using PC is resolved 7 parameters of test platform of the present invention.
Referring to shown in Figure 1, the present invention is a kind of test platform that is used for detecting vibration adsorption capacity of wall climbing robot, and this test platform is made up of base assembly 1, absorbent module 2 and vibration component 3; Absorbent module 2 is installed in A support 11 and B supports between 12, and vibration component 3 is installed on the base assembly 1.
Shown in Fig. 2, Fig. 2 A, base assembly 1 includes A support 11, B support 12, base 13, L shaped bearing 108, arch bearing 109, U-shaped bearing 110, A slide rail 101, B slide rail 102, A slide block 103, B slide block 104;
A support 11, B support 12 are installed in the right-hand member of base 13, and A support 11 is supported 12 keeping parallelisms with B; On the interior plate face of A support 11 D slide rail 121 is installed, and on the D slide rail 121 D slide block 122 is installed, D slide block 122 is connected with the B connector 22b of back up pad 22; On the interior plate face of B support 12 C slide rail 111 is installed, and on the C slide rail 111 C slide block 112 is installed, C slide block 112 is connected with the A connector 22a of back up pad 22; A support 11, B support 12 and not only are used to support back up pad 22, also realize back up pad 22 sliding up and down on C slide rail 111, D slide rail 121 simultaneously.
Be provided with motor cabinet 32 on the base 13 from left to right, bearing seat 33, A slide rail 101, B slide rail 102, L shaped bearing 108, arch bearing 109, U-shaped bearing 110 (not with base 13 fixed installations), and A slide rail 101 and B slide rail 102 keeping parallelisms, A slide block 103 is installed on the A slide rail 101, B slide block 104 is installed on the B slide rail 102, one side panel of A slide block 103 is provided with and is used to read scale mark 105 (scale mark 105 is inscribed in base 13, and the spacing between the scale mark is not wait, the scope of regulating amplitude can be enough to satisfy the demand of practical application from 0.5mm～10mm.) on the indication front of the scale value that identified; U-shaped bearing 110 is arranged between L shaped bearing 108, the arch bearing 109; The outside of L shaped bearing 108 is that A supports 11, and the outside of arch bearing 109 is that B supports 12; A slide block 102, B slide block 104 is connected on the both wings of spill web member 37, be placed with A ball bearing 34a in the groove of spill web member 37, A ball bearing 34a is installed on the leading screw 34, spill web member 37 is connected with U-shaped web member 36, and lever 35 is placed in the groove of U-shaped web member 36, at thru-bolt 36a with lever 35, under the condition that U-shaped web member 36 is fixed together, realize the adjusting of lever 35 fulcrums, balance pivot slides on leading screw 34 by A ball bearing 34a, the parameter value shown in the scale mark 105 that read by the indication front on the A slide block 103 of while.
Have A lightening hole 106, B lightening hole 107 on the base 13, these two lightening holes can alleviate the weight of base 13.
Bearing seat 33 is provided with B ball bearing 33a, and the left part of leading screw 34 is connected with B ball bearing 33a; Socket A ball bearing 34a on the leading screw 34, A ball bearing 34a places in the groove of spill web member 37, therefore, can support leading screw 34 by spill web member 37.The present invention adopts the cooperation of leading screw 34, A ball bearing 34a, spill web member 37, A slide rail 101, A slide block 103, can be used for regulating very easily position of the fulcrum on the one hand, can conveniently read the amplitude of acting force simultaneously.
Referring to shown in Figure 3, absorbent module 2 includes baroceptor 21, force transducer 24, sucker 23, back up pad 22; Baroceptor 21 is installed on the boss 22d of back up pad 22, and sucker 23 is installed in the lower face of back up pad 22, and bottom and sucker support 25 and be connected, and force transducer 24 places the lower face of back up pad 22; Measure the absorption affinity of sucker 23 in motion process by baroceptor 21.Measuring levers 35 by force transducer 24 moves up and down and drives sucker and support 25 acting forces that move up and down in the process.
The center of back up pad 22 is provided with boss 22d, and the center of boss 22d has A through hole 22e, and the both sides of back up pad 22 are respectively equipped with A connector 22a, B connector 22b, has A threaded hole 22c near on the back up pad 22 on A connector 22a limit; Baroceptor 21 is installed on the boss 22d; Screw 24a passes the lower face that realizable force sensor 24 behind A threaded hole 22c, the B threaded hole in turn is installed in back up pad 22; A connector 22a is connected with D slide block 122, and B connector 22b is connected with C slide block 112; Back up pad 22 is connected with D slide block 122, C slide block 112, and when sucker 23 was the benchmark up-down vibration with the lower face of back up pad 22, D slide block 122, C slide block 112 slided up and down along guide rails separately.
Referring to shown in Figure 4, vibration component 3 includes AC servo motor 31, eccentric wheel 31a, lever 35, leading screw 34, ball bearing 34a;
The output shaft of AC servo motor 31 is connected with eccentric wheel 31a, and eccentric wheel 31a places in the A elongate slots 35a of lever 35;
The lateral centre of lever 35 is provided with central through hole 35c, and (this central through hole 35c is the fulcrum of lever 35, being used for passing by a screw makes lever 35 be connected with U-shaped web member 36), have A elongate slots 35a on the left end of lever 35, have B elongate slots 35b on the right-hand member of lever 35; The lateral centre of lever 35 is installed in the draw-in groove of U-shaped web member 36, and the right-hand member of lever 35 places in the draw-in groove 110b of U-shaped bearing 110; Be placed with eccentric wheel 31a in the A elongate slots 35a, eccentric wheel 31a rotates under the driving of AC servo motor 31, swings up and down thereby drive lever 35; The swinging up and down of lever 35 driving U-shaped bearing 110 and also moving up and down, and is the benchmark up-down vibration thereby make sucker 23 with the lower face of back up pad 22.Be used for pin 110e in the B elongate slots 35b and pass, this pin 110e makes the right-hand member of lever 35 realize being connected with U-shaped bearing 110.
A ball bearing 34a is socketed on the leading screw 34, and A ball bearing 34a places in the groove of spill web member 37; Be connected with a B ball bearing on the left end of leading screw 34, this B ball bearing is installed on the bearing seat 33.Regulate amplitude by A ball bearing 34a, leading screw 34 with A slide block 103, scale mark 105, the parameter that makes test platform read is more accurate.
Vibration adsorption experiment platform of the present invention drives eccentric wheel 31a by AC servo motor 31 and does uniform rotation or pulse mode rotation, and this rotation passes to sucker by lever 35, pin 110e and U-shaped bearing 110 and supports 25, and sucker 23 is moved up and down.Moving up and down of sucker 23 will produce negative pressure at the bottom surface of back up pad 22, and this negative pressure value is collected in the PC by baroceptor 21.By the power of sucker 23 with the absorption generation of the bottom surface of back up pad 22, this power is collected in the PC by force transducer 24.In PC, use Labview 8.0 and Matlab 7.0 softwares and carry out emulation and analysis gathering each data, show that by the result robot that utilizes the vibration sucker to produce negative pressure has higher reliability and security.
Claims (5)
1, a kind of test platform that is used for detecting vibration adsorption capacity of wall climbing robot is characterized in that: this test platform is made up of base assembly (1), absorbent module (2) and vibration component (3); Absorbent module (2) is installed in A and supports between (11) and the B support (12), and vibration component (3) is installed on the base assembly (1);
Base assembly (1) includes A and supports (11), B support (12), base (13), L shaped bearing (108), arch bearing (109), U-shaped bearing (110), A slide rail (101), B slide rail (102), A slide block (103), B slide block (104); A supports (11), B supports the right-hand member that (12) are installed in base (13), and A supports (11) and B support (12) keeping parallelism; On the interior plate face of A support (11) D slide rail (121) is installed, and on the D slide rail (121) D slide block (122) is installed, D slide block (122) is connected with the B connector (22b) of back up pad (22); On the interior plate face of B support (12) C slide rail (111) is installed, and on the C slide rail (111) C slide block (112) is installed, C slide block (112) is connected with the A connector (22a) of back up pad (22); Be provided with motor cabinet (32), bearing seat (33), A slide rail (101), B slide rail (102), L shaped bearing (108), arch bearing (109), U-shaped bearing (110) on the base (13) from left to right, and A slide rail (101) and B slide rail (102) keeping parallelism, A slide block (103) is installed on the A slide rail (101), B slide block (104) is installed on the B slide rail (102), and a side panel of A slide block (103) is provided with the indication front that is used to read the scale value that is identified on the scale mark (105); U-shaped bearing (110) is arranged between L shaped bearing (108), the arch bearing (109); The outside of L shaped bearing (108) is that A supports (11), and the outside of arch bearing (109) is that B supports (12); A slide block (102), B slide block (104) are connected on the both wings of spill web member (37), are placed with A ball bearing (34a) in the groove of spill web member (37), and A ball bearing (34a) is installed on the leading screw (34); Bearing seat (33) is provided with B ball bearing (33a), and the left part of leading screw (34) is connected with B ball bearing (33a);
Absorbent module (2) includes baroceptor (21), force transducer (24), sucker (23), back up pad (22); Baroceptor (21) is installed on the boss (22d) of back up pad (22), and sucker (23) is installed in the lower face of back up pad (22), and bottom and sucker support (25) and be connected, and force transducer (24) places the lower face of back up pad (22); Measure the absorption affinity of sucker (23) in motion process by baroceptor (21); Measuring lever (35) by force transducer (24) moves up and down and drives sucker and support (25) move up and down acting force in the process; The center of back up pad (22) is provided with boss (22d), the center of boss (22d) has A through hole (22e), the both sides of back up pad (22) are respectively equipped with A connector (22a), B connector (22b), have A threaded hole (22c) near on the back up pad (22) on A connector (22a) limit; Baroceptor (21) is installed on the boss (22d); Screw (24a) passes the lower face that realizable force sensor (24) behind A threaded hole (22c), the B threaded hole in turn is installed in back up pad (22); A connector (22a) is connected with D slide block (122), and B connector (22b) is connected with C slide block (112); Sucker (23) is provided with B through hole (23a), is used to place the end that sucker supports (25) in the B through hole (23a), and the other end that sucker supports (25) is connected with the C threaded hole (110a) of U-shaped bearing (110);
Vibration component (3) includes AC servo motor (31), eccentric wheel (31a), lever (35), leading screw (34), ball bearing (34a); The output shaft of AC servo motor (31) is connected with eccentric wheel (31a), and eccentric wheel (31a) places in the A elongate slots (35a) of lever (35); The lateral centre of lever (35) is provided with central through hole (35c), has A elongate slots (35a) on the left end of lever (35), has B elongate slots (35b) on the right-hand member of lever (35); The lateral centre of lever (35) is installed in the draw-in groove of U-shaped web member (36), and the right-hand member of lever (35) places in the draw-in groove (110b) of U-shaped bearing (110); Be placed with eccentric wheel (31a) in the A elongate slots (35a), eccentric wheel (31a) rotates under the driving of AC servo motor (31), swings up and down thereby drive lever (35); The swinging up and down of lever (35) driving U-shaped bearing (110) and also moving up and down, and is the benchmark up-down vibration thereby make sucker (23) with the lower face of back up pad (22).
2, the test platform that is used for detecting vibration adsorption capacity of wall climbing robot according to claim 1 is characterized in that: scale mark (105) is inscribed on the base (13), and the spacing between the scale mark is not wait.
3, the test platform that is used for detecting vibration adsorption capacity of wall climbing robot according to claim 1, it is characterized in that: spill web member (37) is connected with U-shaped web member (36), and lever (35) is placed in the groove of U-shaped web member (36), under the condition that thru-bolt (36a) is fixed together lever (35), U-shaped web member (36), realize the adjusting of lever (35) fulcrum, balance pivot go up to slide at leading screw (34) by A ball bearing (34a), simultaneously the parameter value shown in the scale mark (105) that is read by the indication front on the A slide block (103).
4, the test platform that is used for detecting vibration adsorption capacity of wall climbing robot according to claim 1, it is characterized in that: adopt the cooperation of leading screw (34), A ball bearing (34a), spill web member (37), A slide rail (101), A slide block (103), be used for regulating easily position of the fulcrum on the one hand, can conveniently read the amplitude of acting force simultaneously.
5, the test platform that is used for detecting vibration adsorption capacity of wall climbing robot according to claim 1, it is characterized in that: drive eccentric wheel (31a) by AC servo motor (31) and do uniform rotation or pulse mode rotation, this rotation passes to sucker by lever (35), pin (110e) and U-shaped bearing (110) and supports (25), and sucker (23) is moved up and down; Moving up and down of sucker (23) will produce negative pressure at the bottom surface of back up pad (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101199784A CN101393040B (en) | 2008-10-20 | 2008-10-20 | Platform for detecting vibration adsorption capacity of wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101199784A CN101393040B (en) | 2008-10-20 | 2008-10-20 | Platform for detecting vibration adsorption capacity of wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101393040A true CN101393040A (en) | 2009-03-25 |
| CN101393040B CN101393040B (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008101199784A Expired - Fee Related CN101393040B (en) | 2008-10-20 | 2008-10-20 | Platform for detecting vibration adsorption capacity of wall climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104391232A (en) * | 2014-12-22 | 2015-03-04 | 国网河南省电力公司南阳供电公司 | Full-automatic insulating rod voltage withstand testing device |
| CN105571628A (en) * | 2015-12-15 | 2016-05-11 | 重庆大学 | Vibration adsorption experiment platform used in water and air |
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN107845307A (en) * | 2017-11-29 | 2018-03-27 | 北京摩诘创新科技股份有限公司 | A kind of flight simulation system and its buffeting platform |
| CN115257989A (en) * | 2022-07-15 | 2022-11-01 | 北京航空航天大学 | Wheel type wall-climbing robot |
-
2008
- 2008-10-20 CN CN2008101199784A patent/CN101393040B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104391232A (en) * | 2014-12-22 | 2015-03-04 | 国网河南省电力公司南阳供电公司 | Full-automatic insulating rod voltage withstand testing device |
| CN105571628A (en) * | 2015-12-15 | 2016-05-11 | 重庆大学 | Vibration adsorption experiment platform used in water and air |
| CN107402139A (en) * | 2017-08-07 | 2017-11-28 | 清华大学天津高端装备研究院 | A kind of magnetic adsorption wall climbing robot performance detecting platform |
| CN107845307A (en) * | 2017-11-29 | 2018-03-27 | 北京摩诘创新科技股份有限公司 | A kind of flight simulation system and its buffeting platform |
| CN115257989A (en) * | 2022-07-15 | 2022-11-01 | 北京航空航天大学 | Wheel type wall-climbing robot |
| CN115257989B (en) * | 2022-07-15 | 2023-08-11 | 北京航空航天大学 | Wheeled wall climbing robot |
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| CN101393040B (en) | 2010-06-16 |
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